CN111358668A

CN111358668A - Hip joint walking aid

Info

Publication number: CN111358668A
Application number: CN201811603961.6A
Authority: CN
Inventors: 邹风山; 曲道奎; 李刚; 邸霈; 何元一; 刘世昌
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2018-12-26
Filing date: 2018-12-26
Publication date: 2020-07-03

Abstract

The invention discloses a hip joint walking aid, comprising: a lumbar fixation device, an energy storage and release device and a thigh support device; an energy storage and release device is connected to the lumbar fixation device and the thigh support device, the energy storage and release device comprising: the energy storage and release device comprises an energy storage and release device shell, a clockwork spring device, a spline shaft sleeve, a central rotating shaft, a tension and compression spring device, a rotating device and a shaft end stopping device; the inner ring of the spring device is fixed on the outer ring of the spline shaft sleeve, the outer ring of the spring device is fixed on the inner wall of the energy storage and release device shell, the tension and compression elastic device is sleeved on the central rotating shaft and is in a compression state, the shaft end stopping device is fixed on the central rotating shaft, the shaft end stopping device is clamped at the limiting position of the energy storage and release device shell, and the rotating device is fixed on one side of the central rotating shaft. The hip joint walking aid can provide effective walking assisting force for users. The invention has simple and light structure, low cost, reliable work and good wearing comfort.

Description

Hip joint walking aid

Technical Field

The invention relates to the field of medical equipment, in particular to a hip joint walking aid.

Background

At present, robot equipment in the field of rehabilitation medical treatment at home and abroad is gradually increased, and the walking-aid robot is a rehabilitation medical equipment which can help patients with walking disorder to recover independent walking ability.

At present, most of walking aids are driven by motors, and the electrically-driven power-assisted joints adopt the motors as driving elements, so that the self weight of the power-assisted joints is large, the structure is complex, the cost of the power-assisted joints is obviously increased due to the introduction of the motors, the maintenance difficulty is increased, and the working reliability of the joints is reduced. Because the motor during operation produces certain noise, when the user dresses the helping hand joint, the travelling comfort of its dress will discount greatly. The electric power is consumed when the motor works, and the endurance capacity of the electric drive power-assisted joint has a large defect.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and adopts the following technical scheme:

the invention provides a hip joint walking aid. The hip walker comprises: a lumbar fixation device, an energy storage and release device, and a thigh support device;

the waist fixing device is used for fixing the waist of a user;

one end of the energy storage and release device is connected with the waist fixing device, the other end of the energy storage and release device is connected with the thigh supporting device, the energy storage and release device comprises a left side energy storage and release device and a right side energy storage and release device, and the left side energy storage and release device and the right side energy storage and release device respectively comprise: the energy storage and release device comprises an energy storage and release device shell, a clockwork spring device, a spline shaft sleeve, a central rotating shaft, a tension and compression spring device, a rotating device and a shaft end stopping device;

the central rotating shaft is connected with the spline shaft sleeve,

the inner ring of the clockwork spring device is fixed on the outer ring of the spline shaft sleeve, the outer ring of the clockwork spring device is fixed on the inner wall of the energy storage and release device shell,

the tension-compression elastic device is sleeved on the central rotating shaft, one end of the tension-compression elastic device is tangent with the spline end surface of the central rotating shaft, the other end of the tension-compression elastic device is tangent with the inner wall of the shell of the energy storage and release device and is in a compression state,

the shaft end stopping device is fixed on the central rotating shaft, is clamped at the limiting position of the energy storage and release device shell and can be separated from the limiting position of the energy storage and release device shell under the pressing of the tension and compression elastic device;

the rotating device is fixed on one side of the central rotating shaft and can drive the central rotating shaft to rotate when the shaft end stopping device is separated from the radial concave part of the energy storage and release device shell.

In some embodiments, the waist attachment device and the energy storage and release device housing are joined together by bonding.

In some embodiments, the energy storage and release device housing includes an energy storage and release device case outer piece and an energy storage and release device case inner piece that mates with the energy storage and release device case outer piece.

In some embodiments, the shaft end stopping device is fixed on the central rotating shaft, the shaft end stopping device is provided with a radial bulge, the limiting part of the energy storage and release device shell is a radial recess,

the shaft end stopping device can enable the radial protrusion to be disengaged from the radial recess under the pressing of the tension and compression elastic device.

In some embodiments, the shaft end stop means comprises: a shaft end baffle and a screw; the shaft end baffle sheet is fixed on the central rotating shaft through the screw,

the radial bulge is arranged on the quick searching shaft end baffle.

The hip walker of claim 3 wherein said tension and compression resilient means comprises: the central rotating shaft pushes the spring,

the central rotating shaft pushing spring abuts between the end face of the central rotating shaft and the inner wall of the inner piece of the energy storage and release device box, one end of the central rotating shaft pushing spring is tangent to the spline end face of the central rotating shaft, and the other end of the central rotating shaft pushing spring is tangent to the inner wall of the inner piece of the energy storage and release device box and is in a compression state.

In some embodiments, the tension and compression resilient means comprises: the central rotating shaft pushes the spring,

In some embodiments, the rotating device comprises: the spring rotating wrench and the wrench fixing screw are fixed at one end of the central rotating shaft through the wrench fixing screw.

In some embodiments, the clockwork spring device comprises: and the inner ring of the clockwork spring is fixed on the outer ring of the spline shaft sleeve, and the outer ring of the clockwork spring is fixed on the inner wall of the outer plate of the energy storage and release device box.

In some embodiments, the thigh support device comprises: the thigh supporting plate and the thigh supporting plate clamping cover are fixedly arranged on the energy storage release box outer sheet through the matching of the fixing screw and the fixing nut.

The invention has the technical effects that: the hip joint walking aid disclosed by the invention can provide effective walking assisting force for a user. Through adopting clockwork spring device as core drive element to the principle of walking passively is as theoretical foundation, to clockwork spring device, has carried out unique design to joint structure and transmission, need not to consume the external energy in the use, and simple structure is light, and low cost, the reliable operation, the wearing travelling comfort is good, can effectively solve a great deal of problems such as the dead weight that electric drive helping hand joint can't solve is big, the reliability is low, with high costs, the noise is big, has very wide market prospect.

Drawings

FIG. 1 is a schematic view of the overall construction of a hip walker in accordance with one embodiment of the present invention;

FIG. 2 is a cross-sectional view of a hip walker in accordance with one embodiment of the present invention;

fig. 3 is a partial cross-sectional view of an energy storage and release device according to one embodiment of the invention.

Reference numerals referred to in the drawings are as follows:

1-an outer plate of the energy storage and release device box, 2-a clockwork spring, 3-an inner plate of the energy storage and release device box,

6-spline shaft sleeve, 7-center rotating shaft, 8-shaft end baffle, 9-screw, 10-center rotating shaft pushing spring, 11-clockwork spring rotating wrench, 12-wrench fixing screw, 13-thigh supporting plate clamping cover, 14-fixing nut, 15-fixing screw, 16-thigh supporting plate, 17-waist fixing device, 20-energy storage releasing device and 100-hip joint walking aid.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

Referring to figures 1 to 3, a hip walker 100 is illustrated according to one embodiment of the present invention. The hip walker 100 comprises: a lumbar fixation device 17, an energy storage and release device 20, and a thigh support device;

the waist fixing device 17 is used for fixing the waist of the user;

the energy storage and release device 20 is connected to the lumbar fixing device 17 at one end and the thigh supporting device at another end, the energy storage and release device 20 includes a left energy storage and release device and a right energy storage and release device, and the left energy storage and release device and the right energy storage and release device respectively include: the energy storage and release device comprises an energy storage and release device shell, a clockwork spring device, a spline shaft sleeve 6, a central rotating shaft 7, a tension and compression spring device, a rotating device and a shaft end stopping device;

the central rotating shaft 7 is connected with the spline shaft sleeve 6,

the inner ring of the clockwork spring device is fixed on the outer ring of the spline shaft sleeve 6, the outer ring of the clockwork spring device is fixed on the inner wall of the energy storage and release device shell,

the tension-compression elastic device is sleeved on the central rotating shaft 7, one end of the tension-compression elastic device is tangent with the spline end surface of the central rotating shaft 7, the other end of the tension-compression elastic device is tangent with the inner wall of the shell of the energy storage and release device and is in a compression state,

the shaft end stopping device is fixed on the central rotating shaft 7, is clamped at the limiting position of the energy storage and release device shell and can be separated from the limiting position of the energy storage and release device shell under the pressing of the tension and compression elastic device;

the rotating device is fixed on one side of the central rotating shaft 7 and can drive the central rotating shaft 7 to rotate when the shaft end stopping device is disengaged from the radial recess of the energy storage and release device shell.

In some embodiments, the lumbar fixation device 17 and the energy storage and release device housing are joined together by bonding.

In some embodiments, the energy storage and release device housing comprises an energy storage and release device case outer sheet 1 and an energy storage and release device case inner sheet 3 mated with the energy storage and release device case outer sheet 1.

In some embodiments, the shaft end stopping device is fixed on the central rotating shaft 7, the shaft end stopping device is provided with a radial bulge, the limiting position of the energy storage and release device shell is a radial recess,

In some embodiments, the shaft end stop means comprises: a shaft end baffle 8 and a screw 9; the shaft end baffle 8 is fixed on the central rotating shaft 7 through the screw 9,

the radial bulge is arranged on the shaft end baffle plate 8.

The hip walker of claim 3 wherein said tension and compression resilient means comprises: the central rotation shaft pushes the spring 10,

the central rotating shaft pushing spring 10 abuts against the end face of the central rotating shaft 7 and the inner wall of the inner piece 3 of the energy storage and release device box, one end of the pushing spring of the central rotating shaft 7 is tangent to the spline end face of the central rotating shaft 7, and the other end of the pushing spring of the central rotating shaft 7 is tangent to the inner wall of the inner piece 3 of the energy storage and release device box and is in a compression state.

In some embodiments, the tension and compression resilient means comprises: the central rotating shaft pushes the spring 10, the central rotating shaft pushes the spring 10 to abut against the end surface of the central rotating shaft 7 and the inner wall of the inner piece 3 of the energy storage and release device box, one end of the central rotating shaft 7 pushing spring is tangent to the spline end surface of the central rotating shaft 7, and the other end of the central rotating shaft pushing spring is tangent to the inner wall of the inner piece 3 of the energy storage and release device box and is in a compression state.

In some embodiments, the rotating device comprises: a spring rotating wrench 11 and a wrench fixing screw 12, wherein the spring rotating wrench 11 is fixed at one end of the central rotating shaft 7 through the wrench fixing screw 12.

In some embodiments, the clockwork spring device comprises: and the inner ring of the spring 2 is fixed on the outer ring of the spline shaft sleeve 6, and the outer ring of the spring 2 is fixed on the inner wall of the energy storage and release device box outer sheet 1.

In some embodiments, the thigh support device comprises: a thigh support plate 16, a fixing screw 15, a fixing nut 14, and a thigh support plate clip cover 13, wherein the thigh support plate 16 and the thigh support plate clip cover 13 are fixedly disposed on the energy storage release box outer sheet by the cooperation of the fixing screw 15 and the fixing nut 14.

Fig. 2 is a cross-sectional view of a hip joint booster according to an embodiment of the present invention. The central rotating shaft 7 is connected with the spline shaft sleeve 6, two ends of the spline shaft sleeve 6 are respectively abutted against the cylindrical bulges on the inner walls of the inner plate 3 which can be connected with the storage and release box and the outer plate 1 of the energy storage and release device box, the inner ring of the clockwork spring 2 is fixed on the outer ring of the spline shaft sleeve 6, the outer ring of the clockwork spring 2 is fixed on the inner wall of the outer plate 1 of the energy storage and release device box, the shaft end baffle plate 8 is fixed on the central rotating shaft 7 by adopting a screw 9, and the radial bulge of the shaft end baffle plate 8 is. A spring rotating wrench 11 is fixed to one side of the central rotating shaft 7 by a wrench fixing screw 12. The thigh support plate 16 is fixed to the energy storage and release case outer 1 by a fixing screw 15, a fixing nut 14, and a thigh support plate clip cover 13. The lumbar support device 17 is bonded to the energy storage and release device case 3. The central rotating shaft pushing spring 10 is sleeved on the central rotating shaft 7, one end of the central rotating shaft pushing spring is tangent to the spline end face of the central rotating shaft 7, and the other end of the central rotating shaft pushing spring is tangent to the inner wall of the inner sheet 3 of the energy storage and release box and is in a compressed state.

In the initial state, the spring 2 has no energy inside and does not output torque, and after a user wears the device, the user firstly presses the spring rotating wrench 11, the spring rotating wrench 11 pushes the central rotating shaft 7, the central rotating shaft 7 overcomes the resistance of the central rotating shaft pushing spring 10, and the shaft end blocking piece 8 is pushed out of the groove of the energy storage and release box outer sheet 3. Then keep clockwork spring rotary wrench 11 to compress tightly the state unchangeably, rotate clockwork spring rotary wrench 11, clockwork spring wrench 11 drives central pivot 7 rotatory, and central pivot 7 drives spline axle sleeve 6 through connecting between flowers and rotates, because clockwork spring 2 inner circle is fixed in on 6 outer races of spline axle sleeve, alright drive clockwork spring 2 rotatory this moment, and then for clockwork spring 2 applys energy to save in the energy storage release. Then the compression state of the spring rotating wrench 11 is released, and under the thrust action of the central rotating shaft pushing spring 10, the central rotating shaft 7 and the shaft end baffle 8 will move leftwards, so that the bulge of the shaft end baffle 8 enters the groove of the energy storage and release box outer piece inner piece 3 again, and the fixation is carried out. Because the spring 2 has elastic potential energy inside, and the outer ring of the spring 2 is fixed on the inner wall of the energy storage and release box outer plate 1, the energy storage and release box outer plate 1 rotates under the action of the spring 2, then drives the thigh supporting plate to rotate, and finally assists the hip joint to assist the user in walking.

The hip joint walking aid disclosed by the invention can provide a certain assistance effect for users under the condition of no energy consumption such as electric energy, and the like. Because the dead weight is lighter for this helps capable ware to dress the travelling comfort better, can also effectively avoid because the noise interference that motor work brought. The electric drive power-assisted joint has high integral work failure rate due to the fact that the electric drive power-assisted joint comprises more electric components, and the clockwork spring type unpowered hip joint walking aid belongs to a pure passive power-assisted joint and does not comprise electric components, and work reliability of a product is remarkably improved.

It will be further appreciated by those of skill in the art that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A hip walker, comprising: a lumbar fixation device, an energy storage and release device, and a thigh support device; the waist fixing device is used for fixing the waist of a user; one end of the energy storage and release device is connected with the waist fixing device, the other end of the energy storage and release device is connected with the thigh supporting device, the energy storage and release device comprises a left side energy storage and release device and a right side energy storage and release device, and the left side energy storage and release device and the right side energy storage and release device respectively comprise: the energy storage and release device comprises an energy storage and release device shell, a clockwork spring device, a spline shaft sleeve, a central rotating shaft, a tension and compression spring device, a rotating device and a shaft end stopping device; the central rotating shaft is connected with the spline shaft sleeve; the inner ring of the clockwork spring device is fixed on the outer ring of the spline shaft sleeve, and the outer ring of the clockwork spring device is fixed on the inner wall of the energy storage and release device shell; the tension and compression elastic device is sleeved on the central rotating shaft, one end of the tension and compression elastic device is tangent to the spline end surface of the central rotating shaft, and the other end of the tension and compression elastic device is tangent to the inner wall of the energy storage and release device shell and is in a compression state; the shaft end stopping device is fixed on the central rotating shaft, is clamped at the limiting position of the energy storage and release device shell and can be separated from the limiting position of the energy storage and release device shell under the pressing of the tension and compression elastic device; the rotating device is fixed on one side of the central rotating shaft and can drive the central rotating shaft to rotate when the shaft end stopping device is separated from the radial concave part of the energy storage and release device shell.

2. The hip walker of claim 1 wherein the lumbar fixation device and the energy storage and release device housing are joined together by bonding.

3. The hip walker of claim 1 wherein the energy storage and release device housing comprises an energy storage and release device cartridge outer sheet and an energy storage and release device cartridge inner sheet mated with the energy storage and release device cartridge outer sheet.

4. The hip walker of claim 1 wherein the shaft end stop is fixed to the central shaft and has a radial protrusion and the energy storage and release device housing is in a radial recess; the shaft end stopping device can enable the radial protrusion to be disengaged from the radial recess under the pressing of the tension and compression elastic device.

5. The hip walker of claim 4 wherein the shaft end stop means comprises: a shaft end baffle and a screw; the shaft end baffle is fixed on the central rotating shaft through the screw, and the radial bulge is arranged on the quick searching shaft end baffle.

6. The hip walker of claim 3 wherein said tension and compression resilient means comprises: the central rotating shaft pushes the spring, the central rotating shaft pushes the spring to abut against the end face of the central rotating shaft and the inner wall of the inner piece of the energy storage and release device box, one end of the central rotating shaft pushing bullet is tangent to the spline end face of the central rotating shaft, and the other end of the central rotating shaft pushing bullet is tangent to the inner wall of the inner piece of the energy storage and release device box and is in a compression state.

7. The hip walker of claim 3 wherein said tension and compression resilient means comprises: the central rotating shaft pushes the spring, the central rotating shaft pushes the spring to abut against the end face of the central rotating shaft and the inner wall of the inner piece of the energy storage and release device box, one end of the central rotating shaft pushing bullet is tangent to the spline end face of the central rotating shaft, and the other end of the central rotating shaft pushing bullet is tangent to the inner wall of the inner piece of the energy storage and release device box and is in a compression state.

8. The hip walker of claim 1 wherein the rotation device comprises: the spring rotating wrench and the wrench fixing screw are fixed at one end of the central rotating shaft through the wrench fixing screw.

9. The hip walker of claim 3 wherein the clockwork spring device comprises: and the inner ring of the clockwork spring is fixed on the outer ring of the spline shaft sleeve, and the outer ring of the clockwork spring is fixed on the inner wall of the outer plate of the energy storage and release device box.

10. The hip walker of claim 3 wherein the thigh support device comprises: the thigh supporting plate and the thigh supporting plate clamping cover are fixedly arranged on the energy storage release box outer sheet through the matching of the fixing screw and the fixing nut.